U.S. patent application number 16/322326 was filed with the patent office on 2019-06-27 for interventional procedure handle unit, interventional procedure master device using same, and remote interventional procedure sys.
The applicant listed for this patent is KOREA INSTITUTE OF MACHINERY & MATERIALS. Invention is credited to Jang-ho CHO, Ki-soo JEONG, Hyuk-jin LEE, Hyun-soo WOO.
Application Number | 20190192247 16/322326 |
Document ID | / |
Family ID | 62018849 |
Filed Date | 2019-06-27 |
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United States Patent
Application |
20190192247 |
Kind Code |
A1 |
WOO; Hyun-soo ; et
al. |
June 27, 2019 |
INTERVENTIONAL PROCEDURE HANDLE UNIT, INTERVENTIONAL PROCEDURE
MASTER DEVICE USING SAME, AND REMOTE INTERVENTIONAL PROCEDURE
SYSTEM USING SAME
Abstract
In a handle unit for interventional procedure, a master device
for interventional procedure, and a remote control interventional
procedure system, the handle unit is gripped by an operator. The
handle unit includes a gripper, a mode selection module and a
linear motion module. The gripper is gripped by the operator. The
mode selection module is equipped to the gripper, and selects one
of motion modes including a linear motion mode, a rotational motion
mode and a plane motion mode. The needle linearly moves with one
degree of freedom in the linear motion mode. The needle
rotationally moves with two degrees of freedom in the rotational
motion mode. The needle moves in a plane with two degrees of
freedom in the plane motion mode. The linear motion module performs
the linear motion of the needle based on the selection of the mode
selection module, and is equipped to the gripper.
Inventors: |
WOO; Hyun-soo; (Daejeon,
KR) ; CHO; Jang-ho; (Daegu, KR) ; LEE;
Hyuk-jin; (Gyeongsan-si Gyeongsangbuk-do, KR) ;
JEONG; Ki-soo; (Daegu, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KOREA INSTITUTE OF MACHINERY & MATERIALS |
Daejeon |
|
KR |
|
|
Family ID: |
62018849 |
Appl. No.: |
16/322326 |
Filed: |
July 31, 2017 |
PCT Filed: |
July 31, 2017 |
PCT NO: |
PCT/KR2017/008213 |
371 Date: |
January 31, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 34/37 20160201;
A61B 2017/00862 20130101; B25J 3/00 20130101; B25J 13/08 20130101;
A61B 2017/00398 20130101; A61B 2034/742 20160201; A61B 34/74
20160201; A61B 2018/00303 20130101; A61B 2017/3409 20130101; B25J
13/025 20130101; A61B 90/11 20160201; B25J 13/06 20130101; A61B
17/3403 20130101; A61B 34/76 20160201; A61B 2017/3405 20130101 |
International
Class: |
A61B 34/37 20060101
A61B034/37; B25J 3/00 20060101 B25J003/00; A61B 17/34 20060101
A61B017/34; A61B 34/00 20060101 A61B034/00 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 18, 2016 |
KR |
10-2016-0135334 |
Claims
1. A handle unit for interventional procedure, the handle unit
being gripped by an operator corresponding to movement of a needle
for the interventional procedure, the handle unit comprising: a
gripper gripped by the operator; a mode selection module equipped
to the gripper, and selecting one of motion modes comprising a
linear motion mode, a rotational motion mode and a plane motion
mode, the needle linearly moving with one degree of freedom in the
linear motion mode, the needle rotationally moving with two degrees
of freedom in the rotational motion mode, the needle moving in a
plane with two degrees of freedom in the plane motion mode; and a
linear motion module performing the linear motion of the needle
based on the selection of the mode selection module, and equipped
to the gripper.
2. The handle unit of claim 1, wherein the linear motion module
comprises: an inserting guider combined with an inside of the
gripper, a guiding rail being longitudinally formed in a
longitudinal direction; an inserting shaft combined with the
inserting guider at a side of the guiding rail, with moving back
and forth; a linear motion sensor sensing a position of the
inserting shaft; a combining block slidably combined with the
guiding rail with combined with the inserting shaft, and connected
to the linear motion sensor; and a returning elastic part equipped
to the guiding rail, and returning the combining block to an
initial position.
3. The handle unit of claim 2, wherein the linear motion module
further comprises a guiding plate combined with the linear motion
sensor and the gripper, and supporting the combining block to
move.
4. The handle unit of claim 1, wherein the gripper comprises: a
linear body having the linear motion module inside thereof, and
gripped by the operator; a control body protruded at a first side
of the linear body to form a sectional area larger than that of the
linear body, having the mode selection module, and exposing a
control lever controlling the linear motion module; and a support
body protruded at a second side of the linear body to form a
sectional area larger than that of the linear body.
5. The handle unit of claim 1, further comprising: a haptic
generating module vibrating the gripper or the linear motion
module.
6. A master device for interventional procedure, the master device
comprising: the handle unit as claimed in claim 1; a rotational
motion module rotating the needle based on the selection of the
rotational motion mode, and combined with the gripper; and a plane
motion module moving the needle in a plane based on the selection
of the plane motion mode, and combined with the rotational motion
module.
7. The master device of claim 6, wherein the handle unit further
comprises: a clutch module determining an operation of one of the
linear motion module, the rotational motion module and the plane
motion module, corresponding to the motion mode selected by the
mode selection module.
8. The master device of claim 6, wherein the rotational motion
module further comprises: a first rotation base combined with the
plane motion module; a second rotation base combined with the first
rotation base to be rotated with a first rotational axis; a gripper
combiner combined with the gripper, and combined with the second
rotation base to be rotated with a second rotational axis crossing
the first rotational axis; a first rotation driver equipped to the
first rotation base, and providing rotational reaction force to the
second rotation base; and a second rotation driver equipped to the
second rotation base, and providing rotational reaction force to
the gripper combiner.
9. The master device of claim 8, wherein the rotational motion
module further comprises: a first absolute angle detector equipped
to the first rotational axis, and detecting a rotational state of
the second rotation base; and a second absolute angle detector
equipped to the second rotational axis, and detecting a rotational
state of the gripper combiner, wherein the rotational motion of the
needle is performed based on the detection of the first absolute
angle detector and the detection of the second absolute angle
detector, wherein the first rotational driver and the second
rotational driver are respectively operated based on the detection
of the first absolute angle detector and the detection of the
second absolute angle detector, with a start signal starting the
motion of the needle or an end signal finishing the motion of the
needle, for returning the handle unit to be a neutral position.
10. The master device of claim 6, wherein the rotational motion
module further comprises: a weight balancer maintaining a weight
balance between the first rotational base and the second rotational
base.
11. The master device of claim 6, wherein the plane motion module
comprises: a first plane base; a second plane base spaced apart
from the first plane base; a first centering block slidably
combined with the first plane base along a first plane direction,
with combined with the second plane base; and a second centering
block slidably combined with the second plane base along a second
plane direction crossing the first plane direction, with combined
with the rotational motion module.
12. The master device of claim 11, wherein the plane motion module
further comprises: a first plane motion detector detecting a moving
state of the first centering block with respect to the first plane
base; and a second plane motion detector detecting a moving state
of the second centering block with respect to the second plane
base, wherein the rotational motion of the needle is performed
based on the detection of the first plane motion detector and the
detection of the second plane motion detector, wherein the first
rotational driver and the second rotational driver are respectively
operated based on the detection of the first plane motion detector
and the detection of the second plane motion detector, with a start
signal starting the motion of the needle or an end signal finishing
the motion of the needle, for returning the handle unit to be a
neutral position.
13. A remote control interventional procedure system operating a
needle with five degrees of freedom, the system comprising: the
master device as claimed in claim 6; a needle driver linearly
moving the needle based on an operation of the linear motion
module; a slave robot rotationally moving the needle based on an
operation of the rotational motion module, or moving the needle in
a plane based on an operation of the plane motion module; and an
interventional control unit controlling the needle driver and the
slave robot based on an operation of the master device.
Description
BACKGROUND
1. Field of Disclosure
[0001] The present disclosure of invention relates a handle unit
for interventional procedure, a master device for interventional
procedure using the same, and a remote control interventional
procedure system using the master device, and more specifically the
present disclosure of invention relates to a handle unit for
interventional procedure, a master device for interventional
procedure using the same, and a remote control interventional
procedure system using the master device, transmitting a moving
order of an operator to a slave robot and a needle driver,
providing an haptic feedback on a limit of degrees of freedom on
the operation proper to the interventional procedure and an
information generated in the interventional procedure to the
operator, in the remote control interventional procedure system
developed for performing the interventional procedure with a remote
control using a robot.
2. Description of Related Technology
[0002] Generally, in interventional procedure, an inside of human
beings is monitored by an imaging device and a medical device is
inserted into the inside thereof for an operation. The
interventional procedure is a general medical technology used for
the medical procedures, such as tissue biopsy, enlargement
procedure, injection of drug. Needle inserting type interventional
procedure using the needle inserted into the inside thereof is an
example of the interventional procedure. The needle inserting type
interventional procedure may be used in most of the interventional
procedure, such as tissue biopsy on chest, abdomen and various
focus of body, treatment of high frequency, alcohol, refrigeration,
radiation and so on, and access for stent insertion or conduit
insertion.
[0003] For performing the above-mentioned interventional procedure,
the needle is inserted into the body with watching the inside of
the body using the radiographic imaging device.
[0004] Conventionally, in the interventional procedure, the
operator manually inserts the needle into the body, and thus the
operator is exposed to the harmful circumstances including the
radiation generated from the radiographic imaging device such as
the X-ray and so on.
[0005] Thus, the operator is hard to be prevented from the harmful
circumstances, and the needle is inserted only by the experience or
skill of the operator and thus the needle is hard to be correctly
inserted.
[0006] Accordingly, the interventional procedure using a robot with
a remote control is necessary, and for performing the above, a
process for the interventional procedure should be newly developed.
Here, an order from the operator is provided to a slave robot and a
needle inserting module, with optimized processes and types, and
thus a maser device for the interventional procedure providing an
information in the intervention procedure to the operator is also
necessary.
[0007] Related prior art is Korean laid-open patent application No.
2013-0015437 which is disclosed on Feb. 14, 2013.
SUMMARY
[0008] The present invention is developed to solve the
above-mentioned problems of the related arts. The present invention
provides a handle unit for interventional procedure capable of
transmitting a moving order of an operator to a slave robot and a
needle driver, providing an haptic feedback on a limit of degrees
of freedom on the operation proper to the interventional procedure
and an information generated in the interventional procedure to the
operator, in the remote control interventional procedure system
developed for performing the interventional procedure with a remote
control using a robot.
[0009] In addition, the present invention also provides a master
device for interventional procedure using the handle unit.
[0010] In addition, the present invention also provides a remote
control interventional procedure system using the master device
[0011] According to an example embodiment, a handle unit is gripped
by an operator corresponding to movement of a needle for the
interventional procedure. The handle unit includes a gripper, a
mode selection module and a linear motion module. The gripper is
gripped by the operator. The mode selection module is equipped to
the gripper, and selects one of motion modes including a linear
motion mode, a rotational motion mode and a plane motion mode. The
needle linearly moves with one degree of freedom in the linear
motion mode. The needle rotationally moves with two degrees of
freedom in the rotational motion mode. The needle moves in a plane
with two degrees of freedom in the plane motion mode. The linear
motion module performs the linear motion of the needle based on the
selection of the mode selection module, and is equipped to the
gripper.
[0012] In an example, linear motion module may include an inserting
guider, an inserting shaft, a linear motion sensor, a combining
block and a returning elastic part. The inserting guider may be
combined with an inside of the gripper. A guiding rail may be
longitudinally formed in a longitudinal direction. The inserting
shaft may be combined with the inserting guider at a side of the
guiding rail, with moving back and forth. The linear motion sensor
may sense a position of the inserting shaft. The combining block
may be slidably combined with the guiding rail with combined with
the inserting shaft, and be connected to the linear motion sensor.
The returning elastic part may be equipped to the guiding rail, and
return the combining block to an initial position.
[0013] In an example, the linear motion module may further include
a guiding plate combined with the linear motion sensor and the
gripper, and supporting the combining block to move.
[0014] In an example, the gripper may include a linear body, a
control body and a support body. The linear body may have the
linear motion module inside thereof, and may be gripped by the
operator. The control body may be protruded at a first side of the
linear body to form a sectional area larger than that of the linear
body, have the mode selection module, and expose a control lever
controlling the linear motion module. The support body may be
protruded at a second side of the linear body to form a sectional
area larger than that of the linear body.
[0015] In an example, the handle unit may further include a haptic
generating module vibrating the gripper or the linear motion
module.
[0016] According to another example embodiment, a master device for
interventional procedure includes the handle unit mentioned above,
a rotational motion module and a plane motion module. The
rotational motion module rotates the needle based on the selection
of the rotational motion mode, and is combined with the gripper.
The plane motion module moves the needle in a plane based on the
selection of the plane motion mode, and is combined with the
rotational motion module.
[0017] In an example, the handle unit may further include a clutch
module determining an operation of one of the linear motion module,
the rotational motion module and the plane motion module,
corresponding to the motion mode selected by the mode selection
module.
[0018] In an example, the rotational motion module may further
include a first rotation base combined with the plane motion
module, a second rotation base combined with the first rotation
base to be rotated with a first rotational axis, a gripper combiner
combined with the gripper, and combined with the second rotation
base to be rotated with a second rotational axis crossing the first
rotational axis, a first rotation driver equipped to the first
rotation base, and providing rotational reaction force to the
second rotation base, and a second rotation driver equipped to the
second rotation base, and providing rotational reaction force to
the gripper combiner.
[0019] In an example, the rotational motion module may further
include a first absolute angle detector equipped to the first
rotational axis, and detecting a rotational state of the second
rotation base, and a second absolute angle detector equipped to the
second rotational axis, and detecting a rotational state of the
gripper combiner. The rotational motion of the needle may be
performed based on the detection of the first absolute angle
detector and the detection of the second absolute angle detector,
the first rotational driver and the second rotational driver may be
respectively operated based on the detection of the first absolute
angle detector and the detection of the second absolute angle
detector, with a start signal starting the motion of the needle or
an end signal finishing the motion of the needle, for returning the
handle unit to be a neutral position.
[0020] In an example, the rotational motion module may further
include a weight balancer maintaining a weight balance between the
first rotational base and the second rotational base.
[0021] In an example, the plane motion module may include a first
plane base, a second plane base spaced apart from the first plane
base, a first centering block slidably combined with the first
plane base along a first plane direction, with combined with the
second plane base, and a second centering block slidably combined
with the second plane base along a second plane direction crossing
the first plane direction, with combined with the rotational motion
module.
[0022] In an example, the plane motion module may further include a
first plane motion detector detecting a moving state of the first
centering block with respect to the first plane base, and a second
plane motion detector detecting a moving state of the second
centering block with respect to the second plane base. The
rotational motion of the needle may be performed based on the
detection of the first plane motion detector and the detection of
the second plane motion detector. The first rotational driver and
the second rotational driver may be respectively operated based on
the detection of the first plane motion detector and the detection
of the second plane motion detector, with a start signal starting
the motion of the needle or an end signal finishing the motion of
the needle, for returning the handle unit to be a neutral
position.
[0023] According to still another example embodiment, a remote
control interventional procedure system operating a needle with
five degrees of freedom includes the master device mentioned above,
a needle driver linearly moving the needle based on an operation of
the linear motion module, a slave robot rotationally moving the
needle based on an operation of the rotational motion module, or
moving the needle in a plane based on an operation of the plane
motion module, and an interventional control unit controlling the
needle driver and the slave robot based on an operation of the
master device.
[0024] According to the present example embodiments, in the remote
control interventional procedure system for performing the
interventional procedure using a robot, an order from the operator
may be provided to the slave robot and the needle driver, and an
haptic feedback on a limit of degrees of freedom on the operation
proper to the interventional procedure and an information generated
in the interventional procedure may be provided to the
operator.
[0025] In addition, the operator grasping the gripper may control
the linear motion module and the mode selection module at the same
time with one hand of the operator, and may control the linear
motion of the needle and a rolling motion of the needle easily.
[0026] In addition, the operator may easily grasp the gripper. The
mode may be easily converted and one of the linear motion, the
rolling motion, the rotational motion and the plane motion may be
selected to operate the needle, with operating the clutch module by
a finger corresponding to the shape of gripping the gripper by the
operator.
[0027] In addition, the gripper clarifies the linear motion with
one degree of freedom, so as to stably provide the linear motion
state of the inserting shaft to the needle. Thus, the linear motion
of the needle may be accurately controlled based on the linear
motion of the inserting shaft.
[0028] In addition, the insertion of the needle into the human body
may be detected correspond to the linear motion of the inserting
shaft. The operator may detect dangerous situation of the
interventional procedure when the needle is in a predetermined
cautious area.
[0029] Thus, the needle may be prevented from damaging the inside
of the human body with the predetermined cautious area, and the
patient may be properly protected and the medical accident may be
prevented in the interventional procedure.
[0030] In addition, for each motion of the gripper, the control
position of the gripper may be fixed so that the operator may
recognize the arrangement and the inserting of the needle in the
slave robot.
[0031] In addition, the needle may be motioned more correctly, an
absolute position of the needle may be detected, and a weight
balance of the handle unit may be maintained.
[0032] In addition, an interface for the operator may be simplified
and easily used, and the handle unit may be in a neutral position
based on the start signal and the end signal, so that the operator
may control the handle unit more stably.
[0033] In addition, the handle unit may include buttons only
necessary for the interventional procedure, a dangerous signal may
be provided to the operator using a vibrating motor, and mechanism
for operating the clutch module is applied to enhance the operation
of the clutch.
[0034] In addition, for the rotation motion of the needle with two
degree of freedom or the plane motion of the needle with two degree
of freedom, belt-pulley mechanism and a connection between a driver
and a brake are simplified, and friction force and driving force or
fixing force may be properly provided to operate the interventional
procedure.
[0035] In addition, the friction force generated from the master
device in the rotational motion of the needle with two degrees of
freedom may be controlled or prevented. The slave robot may be
smoothly rotated along the first rotational direction with respect
to the first rotational axis, the second rotational direction with
respect to the second rotational axis, and the mixed rotational
direction crossing the first and second rotational directions.
[0036] In addition, the haptic feedback may be performed for the
plane motion of the needle with two degrees of freedom and the
linear motion of the needle with one degrees of freedom, to protect
the patient from the needle.
[0037] In addition, the reaction force may be provided
corresponding to the motion of the needle with each degree of
freedom and the needle may be stopped at the predetermined cautious
area.
[0038] In addition, the needle may be prevented from damaging the
human body at the predetermined cautious area, to protect the
patient in the interventional procedure and to protect the medical
accident.
[0039] In addition, the rotational motion module is not operated
with the linear motion mode or the plane motion mode, and quantity
of motion of the rotational motion module may be accurately
detected for the rotational motion of the gripper with two degrees
of freedom.
[0040] In addition, the linear motion with one degree of freedom,
the rotational motion with two degrees of freedom, and the plane
motion with two degrees of freedom may be clearly discriminated,
the needle may be precisely controlled for each motion, and the
position of the needle may be accurately and precisely
controlled.
[0041] In addition, each motion may be stably provided to the
needle driver and the slave robot, and thus negligent accident due
to the malfunction of the mode selection may be prevented.
[0042] In addition, using the master device for the interventional
procedure, the needle may be automatically inserted into the human
body, and the operator may be prevented from being exposed to
radiation. In addition, as five degrees of freedom of the needle,
the linear motion with one degree of freedom, the rotational motion
with two degrees of freedom and the plane motion with two degrees
of freedom may be selectively performed, so that the needle may be
inserted into the human body more accurately, the needle may be
prevented to be vibrated due to the operation of the master device
in the inserting into the human body, and the selected motion mode
may be only performed without intervening the other motion modes,
in controlling the master device.
[0043] In addition, the motion of the needle may be enlarged, the
degree of freedom of the needle may be also enlarged, and the
rotation motion with two degrees of freedom and the plane motion
with two degrees of freedom may be limited to prevent the vibration
of the needle, and thus the needle may be inserted more stably and
more accurately.
[0044] In addition, the interface for the master device for the
interventional procedure may be simplified in using the master
device, and the needle inserting type remote control interventional
procedure and the processes thereof may be more optimized.
[0045] In addition, the driving input and the reaction force may be
freely performed for each motion, each motion of the needle may be
separated, each motion mode may be clearly discriminated for each
separated motion, and further each individual operation may be
easily performed at each motion mode.
BRIEF DESCRIPTION OF THE DRAWINGS
[0046] FIG. 1 is a block diagram illustrating a remote control
interventional procedure system according to an example embodiment
of the present invention;
[0047] FIG. 2 is a perspective view illustrating a master device
for interventional procedure of FIG. 1:
[0048] FIG. 3 is an exploded perspective view illustrating a handle
unit of FIG. 2;
[0049] FIG. 4 is a side view illustrating a rotational motion
module of FIG. 2;
[0050] FIG. 5 is a side view illustrating a second plane base and a
second centering block of a plane motion module of FIG. 2;
[0051] FIG. 6 is a side view illustrating a first plane base and a
first centering block of a plane motion module of FIG. 2; and
[0052] FIG. 7 is a block diagram illustrating a rolling controller
and a mode selection module of FIG. 1.
DETAILED DESCRIPTION
[0053] The invention is described more fully hereinafter with
reference to the accompanying drawings, in which embodiments of the
invention are shown. This invention may, however, be embodied in
many different forms and should not be construed as limited to the
embodiments set forth herein. Rather, these embodiments are
provided so that this disclosure will be thorough and complete, and
will fully convey the scope of the invention to those skilled in
the art. Same elements or components are expressed with same
reference numerals in the drawings.
[0054] FIG. 1 is a block diagram illustrating a remote control
interventional procedure system according to an example embodiment
of the present invention. FIG. 2 is a perspective view illustrating
a master device for interventional procedure of FIG. 1. FIG. 3 is
an exploded perspective view illustrating a handle unit of FIG. 2.
FIG. 4 is a side view illustrating a rotational motion module of
FIG. 2. FIG. 5 is a side view illustrating a second plane base and
a second centering block of a plane motion module of FIG. 2. FIG. 6
is a side view illustrating a first plane base and a first
centering block of a plane motion module of FIG. 2. FIG. 7 is a
block diagram illustrating a rolling controller and a mode
selection module of FIG. 1.
[0055] Referring to FIGS. 1 to 7, the remote control interventional
procedure system according to the present example embodiment
operates the needle 110 in a motion with five degrees of freedom
including a rotational motion of two degrees of freedom, a plane
motion of two degrees of freedom, and a linear motion of one degree
of freedom.
[0056] In addition, the remote control interventional procedure
system may further operate the needle 110 with a rolling
motion.
[0057] The system includes a master device 100, a needle driver
120, a slave robot 130 and an interventional control unit 140.
[0058] The master device 100 remotely controls the needle driver
120 and the slave robot 130, so as to operate the needle 110 in the
motion with five degrees of freedom and the rolling motion. The
master device 100 is explained in detail below.
[0059] The needle 110 is combined to the needle driver 120, and the
needle driver 120 operates the needle 110 in the linear motion with
one degree of freedom, or in the rolling motion.
[0060] The needle driver 120 is combined to the slave robot 130,
and the slave robot 130 operates the needle 110 in the rotational
motion with two degrees of freedom, or in the plane motion with two
degrees of freedom.
[0061] The interventional control unit 140 controls the operation
of the needle driver 120 and the slave robot 130, according to the
operation of the master device 100. The interventional control unit
140 exchanges information with a master control unit 70 equipped to
the master device 100, and updates the information required to the
operation control.
[0062] Thus, an operator controls the master device 100, so that
the needle driver 120 and the slave robot 130 may be remotely
controlled, the needle 110 may be accurately positioned at a
position for the interventional procedure, the needle 110 may be
inserted into a human body, and further the needle 110 may be
operated in the rolling motion.
[0063] Here, the linear motion with one degree of freedom may be
defined as the needle 110 moves linearly along a longitudinal
direction with respect to the needle 110. The linear motion with
one degree of freedom may be performed as an inserting shaft 22
moves back and forth along an inserting guider 21.
[0064] In addition, the rotational motion with two degrees of
freedom may be defined as the needle 110 moves with motions of
yawing or pitching. The rotational motion with two degrees of
freedom may be performed as a gripper 10 rotates along a first
rotational direction with respect to a first rotational axis 31a,
rotates along a second rotational direction with respect to a
second rotational axis 32a and rotates along a complex rotational
direction crossing the first and second rotational directions, in a
rotational motion module 30.
[0065] In addition, the plane motion with two degrees of freedom
may be defined as the needle 110 moves along an X axis direction or
along a Y axis direction with respect to a virtual plane including
the needle 110. The plane motion with two degrees of freedom may be
performed as the gripper 10 moves along a first plane direction or
along a second plane direction substantially perpendicular to the
first plane direction, in a plane motion module 40.
[0066] In addition, the rolling motion may be defined as the needle
100 rotates in itself with respect to the needle 100 as an axis.
The rolling motion may be performed as a rolling controller 55
rotates.
[0067] The reference numeral 150 is a display which displays an
interventional procedure and is provided to the operator at a side
of master device 100. The reference numeral 160 is a connecting
unit connecting a master unit 70 of the master device 100 with the
interventional control unit 140 for exchanging information.
[0068] Hereinafter, the master device for the interventional
procedure is explained.
[0069] The master device 100 for the interventional procedure
according to the present example embodiment performs the motions of
the needle 110 with five degrees of freedom and the rolling motion
of the needle 110, and is used for the remote control
interventional procedure system. The master device 100 according to
the present example embodiment is controlled by the operator to
perform the linear motion of the needle 110 with one degree of
freedom, the rotational motion of the needle 110 with two degrees
of freedom, the linear motion of the needle 110 with two degrees of
freedom, and the rolling motion of the needle 110.
[0070] The master device 100 accurately positions the needle 110 at
an inserting position of the needle 110, with the rotational motion
with two degrees of freedom and the plane motion with two degrees
of freedom of the gripper 10, and stably inserts the needle 110
into the human body with the linear motion with one degree of
freedom using the linear motion module 20. In addition, the needle
110 rolls according as the rolling controller 55 of the mode
selection module 50 is rotated.
[0071] The master device 100 according to the present example
embodiment includes a handle unit 200, a rotational motion module
30 and a plane motion module 40.
[0072] The handle unit 200 includes the gripper 10, the mode
selection module 50 and a linear motion module 20, and may further
include one of a clutch module 60 and a haptic generating module
70. The handle unit 200 may be the handle unit for the
interventional procedure of the present example embodiment.
[0073] The gripper 10 is configured to be grasped by the operator,
and has a column shape with an opening at a center thereof so that
the linear motion module 20 and the mode selection module 50 are
equipped to the gripper 10. Protrusions are formed on an outer
surface of the gripper 10 to prevent the operator from being
slipped.
[0074] The gripper 10 includes a linear body 11, a control body 12
and a support body 13.
[0075] The linear motion module is equipped to an inside of the
linear body 11, and the operator grasps the linear body 11. The
linear body 11 has a column shape with an opening at a center
thereof so that the linear motion module 20 is equipped to the
linear body 11.
[0076] The control body 12 is protruded from a first side of the
linear body 11 to have an area larger than that of the linear body
11. The mode selection module 50 is equipped to the control body
12, and a control lever 22a is exposed to control the linear motion
module 20.
[0077] The support body 13 is protruded from a second side of the
linear body 11 to have an area larger than that of the linear body
11.
[0078] In addition, the gripper 10 may further include a connecting
body 14 which is combined with the linear body 11 and with which a
gripper combiner 33 is combined. The connecting body 14 has a
connecting groove for the combination with the gripper combiner
33.
[0079] Here, the linear body 11 of the gripper 10 is concaved with
a curved or arched shape, so that the operator may control the
gripper 10 more conveniently, grasp the gripper 10 more stably, and
be prevented from being slipped along a longitudinal direction of
the gripper 10 in moving the gripper 10.
[0080] The mode selection module 50 is equipped to the gripper 10.
The mode selection module 50 selects one motion mode for the needle
110 among the linear motion mode for the linear motion with one
degree of freedom, the rotational motion mode for the rotational
motion with two degrees of freedom, and the plane motion mode for
the plane motion with two degrees of freedom. Then, the mode
selection module 50 selects one of the linear motion mode for
operating the linear motion module 20, the rotational motion mode
for operating the rotational motion module 30, and the plane motion
mode for operating the plane motion module 40. In addition, the
mode selection module 50 may select the rolling motion mode for the
rolling motion of the needle 110. The rolling motion mode is
explained to be selected with the linear motion mode at the same
time, but may be independently selected without the linear motion
mode.
[0081] For example, the mode selection module 50 includes a slide
block 51, a slide guide 52, a mode selection block 53, a control
shaft 54, a rolling controller 55, a mode selector 56, a first
converting detector 57 and a second converting detector 58. The
slide block 51 is equipped to the gripper 10, to move slidably. The
slide guide 52 is combined with the slide block 51, to move
slidably. The mode selection block 53 is combined with the slide
block 51. The control shaft 54 is combined with the mode selection
block 53, with an up and down motion or a rotational motion. The
rolling controller 55 is combined and fixed with the control shaft
54. The mode selector 56 determines one motion mode among the
rotational motion mode, the plane motion mode and the linear motion
mode according to the up and down motion of the control shaft 54 or
the sliding motion of the sliding block 51. The first converting
detector 57 is connected to the mode selector 56 and transmits a
first signal of the up and down motion of the control shaft 54 to
the mode selector 56. The second converting detector 58 is
connected to the mode selector 56 and transmits a second signal of
the sliding motion of the slide block 51 to the mode selector 56.
The mode selection module 50 may further include a slide switch 59
selecting the sliding motion of the slide block 51, to switch or
convert the motion mode more clearly and easily.
[0082] A fixing intercept is concavely formed at the control shaft
54, and a fixing hole is formed through the rolling controller 55
corresponding to the fixing intercept. Then, an additional
connecting member is screw-combined with the fixing hole to be
pressurized and fixed to the fixing intercept, and thus the rolling
controller 55 is fixed to the control shaft 54. When the control
shaft 54 has a cylindrical shape, the rotation of the rolling
controller 55 is correctly transmitted to the control shaft 54 and
the rolling controller 55 is fixed to the control shaft 54.
[0083] Although not shown in the figure, the control shaft 54 has a
polygonal cross-sectional shape to be inserted into the rolling
controller 55, and thus the rolling controller 55 is fixed to the
control shaft 54. In addition, an additional connecting member
passes through the rolling controller 55 to be screw-combined, and
additional connecting member pressurizes, insert-combined or
screw-combined with the control shaft 54, and thus the rolling
controller 55 is fixed to the control shaft 54.
[0084] A method for selecting a motion mode in the mode selection
module 50 and a method for performing the rolling motion of the
needle 110, are explained.
[0085] First, the mode selector 56 discriminates a first selector
56a to which the first converting detector 57 is connected, and a
second selector 56b to which the second converting detector 58 is
connected.
[0086] Then, with the first converting detector 57 and the second
converting detector 58 connected to the first selector 56a and the
second selector 56b respectively, the mode selector 56 selects one
of the plane motion mode, the rotational motion mode and the liner
motion mode (or the rolling motion mode), based on the first signal
or the second signal. Here, in an initial position, the rotational
motion mode is selected. As the control shaft 54 is lifted up, the
plane motion mode is selected based on the first signal. As the
slide block 51 moves slidably, the linear motion mode or the
rolling motion mode is selected based on the second signal.
[0087] Then, the mode selection module 50 is predetermined as the
rotational motion mode at the initial position. The operator
controls the gripper 10 to operate the rotational motion module 30.
Here, the operator controls the gripper 10 with operating the
clutch module 60, to operate the rotational motion module 30.
[0088] When the operation of the rotational motion module 30 is
finished, the operation of the clutch module 60 is released, and
the operation of the rotational motion module 30 is stopped using a
first rotational brake 36 and a second rotational brake 37 in the
rotational motion module 30 to maintain the gripper 10 in an
inclined position.
[0089] In addition, when the operation of the rotational motion
module 30 is finished, the control shaft 54 is lifted up to
transmit the first signal to the mode selector 56, and thus the
plane motion mode is selected. Thus, the operator controls the
gripper 10 to operate the plane motion module 40 only. Here, the
operator controls the gripper 10 with operating the clutch module
60, to operate the plane motion module 40 only.
[0090] After the operation of the plane motion module 40 is
finished, the operation of the clutch module 60 is released, and
the operation of the plane motion module 40 is stopped using a
first plane brake 46 and a second plane brake 48 in the plane
motion module 40 to maintain the gripper 10 in a plane moved
position.
[0091] In addition, when the operation of the plane motion module
40 is finished, the control shaft 54 is slidably moved to transmit
the second signal to the mode selector 56, and thus the linear
motion mode or the rolling motion mode is selected. Here, the slide
switch 59 is turned on, and thus the second signal is transmitted
to the mode selector 56. Thus, the operator controls the needle to
move with the linear motion with one degree of freedom according to
the movement of the inserting shaft 22. In addition, the operator
rotates the rolling controller 55 to perform the rolling motion of
the needle 110. Here, the operator controls the needle 110 to move
with the linear motion with one degree of freedom or the rolling
motion, with operating the clutch module 60.
[0092] In addition, the linear motion module 20 forces to stop
operating the rotational motion module 30 and the plane motion
module 40, and is to be operated, according to the movement of the
inserting shaft 220, when any one of the above-mentioned three
motion modes is selected.
[0093] Alternatively, the mode selection module 50 includes a slide
block 51, a slide guide 52, a mode selection block 53, a control
shaft 54, a rolling controller 55, a mode selector 56, a first
converting detector 57 and a second converting detector 58. The
slide block 51 is equipped to the gripper 10, to move slidably. The
slide guide 52 is combined with the slide block 51, to move
slidably. The mode selection block 53 is combined with the slide
block 51, with an up and down motion. The control shaft 54 is
combined with the mode selection block 53, with a rotational
motion. The rolling controller 55 is combined and fixed with the
control shaft 54. The first converting detector 57 determines one
motion mode among the rotational motion mode, the plane motion mode
and the linear motion mode according to the up and down motion of
the mode selection block 53. The second converting detector 58
selects one of two motion mode not selected by the first converting
detector 57 among the above-mentioned three motion mode, according
to the sliding motion of the slide block 51, the mode selector 56
is connected to one of the first converting detector 57 and the
second converting detector 58 according to the up and down motion
of the mode selection block 53 or the sliding motion of the slide
block 51, and determines one of the rotational motion mode, the
plane motion mode and the linear motion mode.
[0094] Here, when the first converting detector 57 determines the
motion mode among three motion modes according to the sliding
motion of the slide block 51, the second converting detector 58
selects the motion mode in the remained two motion modes not
selected by the first converting detector 57 according to the up
and down motion of the mode selection block 53. Thus, an `L` shape
path is formed according to the up and down motion of the mode
selection block 53 and the sliding motion of the slide block 51,
and then one motion mode among three motion modes is selected by
the first converting detector 57 or the second converting detector
58 connected to three apexes.
[0095] A method for selecting the motion mode in the mode selection
module 50, and a method for performing the rolling motion of the
needle 110 are explained.
[0096] First, the mode selector 56 discriminates a first selector
56a to which the first converting detector 57 is connected
according to the up and down motion of the mode selection block 53,
a second selector 56b to a first side of which the second
converting detector 58 is connected according to the sliding motion
of the slide block 51, and a third selector 56c to a second side of
which the second converting detector 58 is connected according to
the slide motion of the slide block 51.
[0097] Then, one of the plane motion mode, the rotational motion
mode and the linear motion mode is determined according to the
connection of one of the first selector 56a, the second selector
56b and the third selector 56c. Here, when the first converting
detector 57 is connected to the first selector 56a, the plane
motion mode is selected. When the second converting detector 58 is
connected to the second selector 56b, the rotational motion mode is
selected. When the second converting detector 58 is connected to
the third selector 56c, the linear motion mode or the rolling
motion mode is selected.
[0098] In addition, the mode selector 56 discriminates a first
selector 56a to which the first converting detector 57 is connected
according to the sliding motion of the slide block 51, a second
selector 56b to a first side of which the second converting
detector 58 is connected according to the up and down motion of the
mode selection block 53, and a third selector 56c to a second side
of which the second converting detector 58 is connected according
to the up and down motion of the mode selection block 53.
[0099] Then, the second converting detector 58 of the mode
selection module 50 is connected to the second selector 56b at the
initial position and is to be selected as the rotational motion
mode. The operator controls the gripper 10 to operate the
rotational motion module 30 only. Here, the operator controls the
gripper 10 to operate the rotational motion module 30, with
operating the clutch module 60.
[0100] When the operation of the rotational motion module 30 is
finished, the operation of the clutch module 60 is released, and
the operation of the rotational motion module 30 is stopped using a
first rotational brake 36 and a second rotational brake 37 in the
rotational motion module 30 to maintain the gripper 10 in an
inclined position.
[0101] In addition, when the operation of the rotational motion
module 30 is finished, the control shaft 54 is lifted up and down
to disconnect the second converting detector 58 with the second
selector 56b and the third selector 56c, and to connect the first
converting detector 57 with the first selector 56a. Then, the plane
motion mode is selected. Thus, the operator controls the needle to
operate the plane motion module 40 only. Here, the operator
controls the gripper 10 to operate the plane motion module 40, with
operating the clutch module 60.
[0102] When the operation of the plane motion module 40 is
finished, the operation of the clutch module 60 is released, and
the operation of the plane motion module 40 is stopped using a
first plane brake 47 and a second plane brake 48 in the plane
motion module 40 to maintain the gripper 10 in a plane moved
position.
[0103] In addition, when the operation of the plane motion module
40 is finished, returned into the initial position, and the control
shaft 54 is slidably moved to release the connection between the
first converting detector 57 and the first selector 56a and the
connection between the second converting detector 58 and the second
selector 56b, and to connect the second converting detector 58 with
the third selector 56c. Then, the linear motion mode or the rolling
motion mode is selected. Thus, the operator controls the needle to
move in the linear motion with one degree of freedom according to
the movement of the inserting shaft 22. In addition, the operator
rotates the rolling controller 55 to operate the needle with the
rolling motion. Here, the operator rotates the rolling controller
55 to operate the needle, with operating the clutch module 60.
[0104] In addition, the linear motion module 20 forces to stop
operating the rotational motion module 30 and the plane motion
module 40, and is to be operated, according to the movement of the
inserting shaft 220, when any one of the above-mentioned three
motion modes is selected.
[0105] The linear motion module 20 is equipped to the gripper 10.
The linear motion module 20 performs the linear motion of the
needle 110 with one degree of freedom, according to the selection
of the linear motion mode.
[0106] The linear motion module 20 includes an inserting guider 21,
an inserting shaft 22, a linear motion sensor 23, a combining block
24 and a returning elastic part 25, and may further include a
guiding plate 26.
[0107] The inserting guider 21 is combined with an inside of the
gripper 10. The guiding rail 21a is formed in the inserting guider
21 along a longitudinal direction. The inserting guider 21 has a
`U` shape, and the guiding rail 21a is longitudinally formed along
the inserting guider 21.
[0108] The inserting shaft 22 is combined with the inserting guider
21 and move back and forth in the inserting guider 21 at a first
side of the guiding rail 21a. A first side of the inserting shaft
22 is protruded from the inserting guider 21. A control lever 22a
is combined with a first side of the inserting shaft 22, and thus
the operator moves the inserting shaft 22 back and forth with a
finger very easily. The control lever 22a is exposed from the
control body 12 of the gripper 10, and is supported by the control
body 12 to be slidably moved, so that the inserting shaft 22 may be
prevented from being freely moved, and the movement of the
inserting shaft 22 may be stably.
[0109] The linear motion sensor 23 detects the position of the
inserting shaft 22, and detects an amount of the linear movement of
the inserting shaft 22. The linear motion sensor 23 includes a
linear motion selector 231 detecting an initial position, a forward
direction movement and a reverse direction movement of the
inserting shaft 22, and a linear selection protrusion 232 protrude
from the linear motion selector 231 and moving with the inserting
shaft 22.
[0110] The combining block 24 is combined with the guiding rail 21a
and is slidably moves along the guiding rail 21a. The combining
block 24 is connected to the linear motion sensor 23 or the linear
selection protrusion 232.
[0111] Then, the combining block 24 slidably moves along the
guiding rail 21a according to the movement of the inserting shaft
22, and moves the linear selection protrusion 232 so that the
linear motion selector 231 detects the amount of the linear motion
of the inserting shaft 22.
[0112] The returning elastic part 25 is equipped to the guiding
rail 21a The returning elastic part 25 returns the combining block
24 to the initial position. The returning elastic part 25 includes
a coil spring coiled in the guiding rail 21a. Here, the returning
elastic part 25 is elastically deformed due to the movement of the
inserting shaft 22 or the combining block 24, and when the outer
force is released, the returning elastic part 25 returns the
combining block 24 back to the initial position due to the elastic
restoring force. The returning elastic part 25 elastically supports
both sides of the combining block 24.
[0113] The guiding plate 26 is combined with the linear motion
detector 23, is combined with the gripper 10, and support the
combining block 24 to be moved. A guiding slit 261 is formed
through the guiding plater 26, along the longitudinal direction of
the inserting guider 21. The linear selection protrusion 232 is
inserted into the guiding slit 261 to be moved, to prevent the
combining block 24 from being freely moved and to stabilize the
sliding movement of the combining block 24.
[0114] The clutch module 60 is equipped to the gripper 10.
Alternatively, not shown in the figure, the clutch module 60 may be
equipped to the control body 12.
[0115] The clutch module 60 determines an operation of one of the
linear motion module 20, the rotational motion module 30 and the
plane motion module 30, corresponding to the motion mode selected
by the mode selection module 50. In other words, the clutch module
60 may select or release the motion mode corresponding to the
operation of the mode selection module 50. Further, the clutch
module 60 may select or release an entire operation of the linear
motion module 20, the rotational motion module 30 and the plane
motion module 40, and the rolling motion of the needle 110.
[0116] The clutch module 60 includes a clutch switch 61 determining
On/Off based on a clutch motion, and a clutch button 62 operating
the clutch switch 61. The clutch switch 61 is combined with a
switch mount 611 inside of the gripper 10, and is combined with the
gripper 10 to be rotated, with exposed from the griper 10. A pivot
axis 621 is included in the clutch button 62 and thus the clutch
button 62 is combined with the gripper 10 to be rotated using the
pivot axis 621 as an intervening member. In addition, a button
position fixer 622 is protruded from the clutch button 62, to limit
the rotation of the cutch button 62 and for the clutch button 62 to
be stably supported by the gripper 10.
[0117] When the clutch module 60 is turned on, the entire motions
of the linear motion module 20, the rotational motion module 30 and
the plane motion module 40 are operated or the rolling motion of
the needle 110 are operated. In addition, when the clutch button is
turned off, the needle is not moved even though the entire motions
are operated or the rolling motion is operated.
[0118] For example, the clutch module 60 is turned on (the clutch
module 60 is operated) and the motion mode is selected by the mode
selection module 50, and then the motion module corresponding to
the selected motion mode is operated to move the needle 110. In
addition, the needle is not moved in the remaining motion mode
except for the selected motion mode.
[0119] In addition, when the clutch module 60 is turned off (the
clutch module 60 is not operated), one of the linear motion module
20, the rotational motion mode 30 and the plane motion module 40
may be operated or the rolling controller 55 may be rotated, but
the needle 110 is not operated.
[0120] Further, when the clutch module 60 is turned off and one of
the rotational motion mode or the rolling motion mode is selected,
the inserting shaft 22 moves back and forth or the rolling
controller 5 is rotated, but the rotational motion module 30 and
the plane motion module 40 are fixed and the needle 110 is also
maintained to be fixed.
[0121] The haptic generating module 70 vibrates the gripper 10 or
the linear motion module 20. The haptic generating module 70
vibrates the gripper 10 to provide the operator with a haptic
sensing. The haptic generating module 70 vibrates the inserting
guider 21 or the inserting shaft 22, to provide the operator with
the haptic sensing. The haptic generating module 70 includes a
vibrating motor inside of the gripper 10.
[0122] When the needle 110 is inserted into a predetermined
cautious area, the haptic generating module 70 provides the
operator with a state of a linear motion of the inserting shaft 22
in the predetermined cautious area.
[0123] Here, a master control unit 70 determines whether the needle
110 is inserted into the predetermined cautious area or not. When
the needle 110 is in the predetermined cautious area, the haptic
generating module 70 is operated due to the signal from the master
control unit and thus the operator feels the vibrations in the
gripper 10 or the inserting shaft 22. Here, the inserting shaft 22
moves forwardly and thus the needle 110 moves forwardly. Thus, the
haptic generating module 70 warns the operator and the operator
recognizes the warning situation in the interventional
procedure.
[0124] In addition, the master control unit 70 determines whether
the needle 110 is inserted into a dangerous area of the
predetermined cautious area in which a danger exists. When the
needle 110 is inserted into the dangerous area, a stopping signal
from the master control unit 70 is transmitted to the needle 110,
to stop the needle 110 regardless of the advance of the inserting
shaft 22. Then, the needle 110 is not moved even though the
operator advances the inserting shaft 22 forwardly.
[0125] In addition, when the inserting shaft 22 moves backwardly,
the needle 110 also moves backwardly. Here, when the inserting
shaft 22 is moved backwardly, the returning signal from the master
control unit 70 is transmitted to the needle 110, and thus the
needle 110 moves backwardly and gets out of the predetermined
dangerous area or the predetermined cautious area.
[0126] When the inserting shaft 22 moves backwardly, the master
control unit 70 provides the signal concerning the backward
movement to the needle 110 to move the needle 110 backwardly.
[0127] The rotational motion module 30 is combined with the gripper
10. The rotational motion module 30 performs the rotational motion
of the needle 110 with two degrees of freedom as the gripper 10
moves based on the selection of the rotational motion mode.
[0128] The rotational motion module 30 includes a first rotation
base 31, a second rotation base 32 and a gripper combiner 33. The
first rotation base 31 is combined with the plane motion module 40.
The second rotation base 32 is combined with the first rotation
base 31 and is rotated with respect to a first rotational axis 31a.
The gripper 10 is combined with the gripper combiner 33. The
gripper combiner 33 is combined with the second rotation base 32,
and is rotated with respect to a second rotational axis 32a
crossing the first rotational axis 31a. Here, the first and second
rotational axes 31a and 32a may be substantially perpendicular to
each other.
[0129] The rotational motion module 30 may further include a first
rotation driver 35 and a second rotation driver 34. The first
rotation driver 35 is equipped to the first rotation base 31 and
provides a rotational reaction force to the second rotation base
32. The second rotation driver 34 is equipped to the second
rotation base 32 and provides the rotational reaction force to the
gripper combiner 33. The first and second rotation drivers 35 and
34 may provide the rotational reaction force in the predetermined
cautious area or in a correct area.
[0130] Here, the first rotation driver 35 includes a first rotation
motor 351 and a first encoder 352. The first rotation motor 351
generates the rotational force for the rotational reaction force.
The first encoder 352 detects the rotational force of the first
rotational motor 351 to control the operation of the first rotation
motor 351.
[0131] In addition, the second rotation driver 34 includes a second
rotation motor 341 and a second encoder 342. The second rotation
motor 341 generates the rotational force for the rotational
reaction force. The second encoder 342 detects the rotational force
of the second rotational motor 341 to control the operation of the
second rotation motor 341.
[0132] Thus, the first and second rotation drivers 35 and 35
provide the rotational reaction force to the operator, stably.
[0133] The rotational motion module 30 may further include a first
rotation brake 37 and a second rotation brake 36. The first
rotation brake 37 is equipped to the first rotation base 31 and
maintains the rotational state of the second rotation base 32. The
second rotation brake 36 is equipped to the second rotation base 32
and maintains the rotational state of the gripper combiner 33.
[0134] Here, the first rotation brake 37 includes a first harmonic
drive 353 controlling a reduction gear ratio of the first rotation
motor 351, and a first torque sensor 354 detecting a torque of the
first rotation motor 351.
[0135] In addition, the second rotation brake 36 includes a second
harmonic drive 343 controlling a reduction gear ratio of the second
rotation motor 341, and a second torque sensor 344 detecting a
torque of the second rotation motor 341.
[0136] The first rotation brake 37 and the second rotation brake 36
maintain the rotational state in the predetermined cautious area or
in the correct area.
[0137] Here, the first rotation driver 35 and the first rotation
brake 37 are combined with the first rotation base 31 by means of a
first bracket 31b equipped to the first rotation base 31. Here, the
first rotation driver 35 is connected to the first rotation brake
37 by means of a first rotation transmitter 35a, and the first
rotation brake 37 is connected to the first rotational axis 31a by
means of a first stop transmitter 35b. Each of the first rotation
transmitter 35a and the first stop transmitter 35b may be a belt
combination or a pulley combination.
[0138] In addition, the second rotation base 32 is rotationally
combined with the first rotation base 31 by means of a first
bracket 31b and a sub bracket 31c equipped to the first rotation
base 31.
[0139] In addition, the second rotation driver 34 and the second
rotation brake 36 are combined with the second rotation base 32, by
means of a second bracket 32b equipped to the second rotation base
32. Here, the second rotation driver 34 is connected to the second
rotation brake 36 by means of a second rotation transmitter 34a,
and the second rotation brake 36 is connected to the second
rotational axis 32a by means of a second stop transmitter 34b. Each
of the second rotation transmitter 34a and the second stop
transmitter 34b may be a belt combination or a pulley
combination.
[0140] In addition, the rotational motion module 30 includes a
first absolute angle detector 38 and a second absolute angle
detector 39. The first absolute angle detector 38 is equipped to
the first rotational axis 31a of the first rotation base 31 and
detects the rotational state of the second rotation base 32. The
second absolute angle detector 39 is equipped to the second
rotational axis 32a of the second rotation base 32 and detects the
rotational state of the gripper combiner 33. The first absolute
angle detector 38 is equipped to the first rotational axis 31a and
the second absolute angle detector 39 is equipped to the second
rotational axis 32a.
[0141] The first absolute angle detector 38 detects an absolute
rotation angle of the second rotational base 32, and the second
absolute angle detector 39 detects an absolute rotation angle of
the gripper combiner 32. Thus, the rotation angle for the
rotational motion with two degrees of freedom may be accurately
selected or detected.
[0142] Then, the rotational motion of the needle 110 with two
degrees of freedom may be performed, based on the detection by the
first and second absolute angle detectors 38 and 39.
[0143] In addition, the first and second rotation drivers 35 and 34
are respectively operated corresponding to the detection from the
first and second absolute angle detectors 38 and 39, to return the
handle unit 200 to a neutral position, based on an start signal
starting the movement of the needle 10 or an end signal finishing
the movement of the needle 110.
[0144] Here, the neutral position of the handle unit 200 means that
each of the detection from the first and second absolute angle
detectors 38 and 39 is zero, and thus the first and second rotation
drivers 35 and 34 are operated to meet the absolute rotation angle
as zero. In addition, the neutral position of the handle unit 200
means the absolute rotation angle corresponding to the start
signal, and thus the first and second rotation drivers 35 and 34
are operated to rotate the needle with the absolute angle, based on
the start signal.
[0145] In addition, the rotational motion module 30 may further
include a weight balancer 30a maintaining a weight between the
first rotation base 31 and the second rotation base 32 with respect
to the plane motion module 40. The weight balancer 30a is equipped
to the second rotation base 32. For example, the weight balance 30a
may be disposed along an axis same as one of the second rotational
axis 32a, the rotational axis of the second rotation driver 34, and
the rotational axis of the second rotation brake 36.
[0146] The plane motion module 40 is combined with the rotational
motion module 30, and performs the plane motion of the needle 110
with two degrees of freedom by moving the gripper 10 as the
selection of the plane motion mode.
[0147] The plane motion module 40 is divided into a first plane
module 40a and a second plane module 40b. The first plane module
40a moves the needle 110 along a first plane direction with respect
to a bottom as the gripper 10 moves. The second plane module 40b
moves the needle 110 along a second plane direction with respect to
the first plane module 40a as the gripper 10 moves. Here, the first
and second plane directions may be cross or perpendicular to each
other.
[0148] The plane motion module 40 includes a first plane base 41, a
second plane base 42, a first centering block 43 and a second
centering block 44.
[0149] The first plane base 41 is supported by the bottom. The
first plane base 41 has a plate shape. The first plane base 41
includes a first motor bracket 41a supporting a first plane driver
45, and a first support bracket 41b supporting a first plane brake
47.
[0150] The second plane base 42 is spaced apart from the first
plane base 41. The second plane base 42 has a plate shape. The
second plane base 42 includes a second motor bracket 42a supporting
a second plane driver 46, and a second support bracket 42b
supporting a second plane brake 48.
[0151] The first centering block 43 is slidably combined with the
first plane base 41, with combined with the second plane base 42.
The first centering block 43 is slidably combined with the first
plane base 41 by means of a first slider 43a. The first slider 43a
includes an LM slide block. The first centering block 43 slidably
moves along the first plane direction with respect to the first
plane base 41. A first fixing bracket 43b connected to a first belt
45c is equipped to the first centering block 43. In addition, a
first connecting bracket 43c connected to a first plane motion
detector 43d is equipped to the first centering block 43.
[0152] The second centering block 44 is slidably combined with the
second plane base 42, with combined with the rotational motion
module 30. The second centering block 44 is slidably combined with
the second plane base 42 by means of a second slider 44a. The
second slider 44a includes an LM slide block. The second centering
block 44 slidably moves along the second plane direction crossing
the first plane direction with respect to the second plane base 42.
Here, the first and second plane directions may be perpendicular to
each other. A second fixing bracket 44b connected to a second belt
46c is equipped to the second centering block 44. In addition, a
second connecting bracket 44c connected to a second plane motion
detector 44d is equipped to the second centering block 44.
[0153] The plane motion module 40 includes a first plane driver 45
and a second plane driver 46. The first plane driver 45 is
connected to the first centering block 43 with combined with the
first plane base 41 and provides a reaction force to the sliding
movement of the first centering block 43. The second plane driver
46 is connected to the second centering block 44 with combined with
the second plane base 42 and provides a reaction force to the
sliding movement of the second centering block 44.
[0154] The first plane driver 45 is combined with the first plane
base 41 by the first motor bracket 41a, and the second plane driver
46 is combined with the second plane base 42 by the second motor
bracket 42a. The first and second plane drivers 45 and 46 may
provide the reaction force in the predetermined cautious area or in
the correct area.
[0155] Here, the first plane driver 45 includes a first plane motor
451 generating a rotational force for the rotational reaction
force, and a first plane encoder 452 detecting the rotational force
of the first plan motor 451 to control the first plane encoder
451.
[0156] In addition, the second plane driver 46 includes a second
plane motor 461 generating a rotational force for the rotational
reaction force, and a second plane encoder 462 detecting the
rotational force of the second plane motor 461 to control the
second plane encoder 461.
[0157] The plane motion module 40 may further include a first plane
brake 47 and a second plane brake 48. The first plane brake 47 is
connected to the first centering block 43 with combined with the
first plane base 41, and maintains the sliding state of the first
centering block 43. The second plane brake 48 is connected to the
second centering block 44 with combined with the second plane base
42, and maintains the sliding state of the second centering block
44.
[0158] The first plane brake 47 is combined with the first plane
base 41 by the first support bracket 41b in the first plane driver
45. The second plane base 42 is combined with the second plane base
42 by the second support bracket 42b in the second plane driver
46.
[0159] The first and second plane brakes 47 and 48 may maintain the
moving state in the predetermined cautious area or in the correct
area.
[0160] Here, the first plane brake 47 includes a first plane
harmonic drive 453 controlling a reduction gear ratio of the first
plane motor 451, and a first plane torque sensor 454 detecting a
torque of the first plane motor 451.
[0161] In addition, the second plane brake 48 includes a second
plane harmonic drive 463 controlling a reduction gear ratio of the
second plane motor 461, and a second plane torque sensor 464
detecting a torque of the second plane motor 461.
[0162] Here, the first plane driver 45 and the first plane brake 47
are connected to each other, by a first driving pulley 45a combined
with the rotational axis of the first plane driver 45, a first
brake pulley 45b combined with the rotational axis of the first
plane brake 47, and a first belt 45c connecting the first driving
pulley 45a with the first brake pulley 45b. The first belt 45c is
combined with the first fixing bracket 43b. Thus, the first plane
driver 45, the first plane brake 47 and the first centering block
43 are connected and operated with each other. Although not shown
in the figure, the first plane driver 45 and the first plane brake
47 may be combined with each other using a chain or a sprocket.
[0163] In addition, the second plane driver 46 and the second plane
brake 48 are connected to each other, by a second driving pulley
46a combined with the rotational axis of the second plane driver
46, a second brake pulley 46b combined with the rotational axis of
the second plane brake 48, and a second belt 46c connecting the
second driving pulley 46a with the second brake pulley 46b. The
second belt 46c is combined with the second fixing bracket 44b.
Thus, the second plane driver 46, the second plane brake 48 and the
second centering block 44 are connected and operated with each
other. Although not shown in the figure, the second plane driver 46
and the second plane brake 48 may be combined with each other using
a chain or a sprocket.
[0164] In addition, the plane motion module 40 may further include
a first plane motion detector 43d detecting a movement of the first
centering block 43 with respect to the first plane base 41, and a
second plane motion detector 44d detecting a movement of the second
centering block 44 with respect to the second plane base 42.
[0165] The first plane motion detector 43d includes a first plane
motion selector 431 and a first selection protrusion 432. The first
plane motion selector 431 detects an initial position, an amount of
forward movement and an amount of backward movement of the first
centering block 43. The first selection protrusion 432 is protruded
from the first plane motion selector 431 and moves together with
the first centering block 43. A first plane guider 433 guiding the
first selection protrusion 432 is formed in the first plane motion
selector 431, to clarify the movement of the first selection
protrusion 432. The first selection protrusion 432 is combined with
the first connecting bracket 43c, to make the connection with the
first centering block 43 much easier.
[0166] The second plane motion detector 44d includes a second plane
motion selector 441 and a second selection protrusion 442. The
second plane motion selector 441 detects an initial position, an
amount of forward movement and an amount of backward movement of
the second centering block 44. The second selection protrusion 442
is protruded from the second plane motion selector 441 and moves
together with the second centering block 44. A second plane guider
443 guiding the second selection protrusion 442 is formed in the
second plane motion selector 441, to clarify the movement of the
second selection protrusion 442. The second selection protrusion
442 is combined with the second connecting bracket 44c, to make the
connection with the second centering block 44 much easier.
[0167] The first plane motion detector 43d detects an absolute
position of the first centering block 43, and the second plane
motion detector 44d detects an absolute position of the second
centering block 44, so that the position for the plane motion with
two degrees of freedom may be more clarified. Then, the needle 110
may be operated in the plane motion with two degrees of freedom,
based on the detection of the first and second plane motion
detectors 43d and 44d.
[0168] In addition, the first and second plane drivers 45 and 46
may be operated corresponding to the detection of the first and
second plane motion detectors 43d and 44d, based on the start
signal starting the motion of the needle 110 and the end signal
finishing the motion of the needle 110, for returning the handle
unit 200 to the neutral position.
[0169] Here, the neutral position of the handle unit 200 means that
each of the detection from the first and second plane motion
detectors 43d and 44d is zero, and thus the first and second plane
drivers 45 and 46 are operated to meet the absolute position as
zero. In addition, the neutral position of the handle unit 200
means the absolute position corresponding to the start signal, and
thus the first and second plane drivers 45 and 46 are operated to
move the needle with the absolute position, based on the start
signal.
[0170] The master device for the interventional procedure according
to the present example embodiment may further include a master
control unit 70. The master control unit 70 controls the operation
of the linear motion module 20, the rotational motion module 30 and
the plane motion module 40, in relation with the mode selection
module 50. The master control unit 70 may replace the information
for the motion control, with exchanging the information with the
interventional control unit 140.
[0171] According to the present example embodiments, in the remote
control interventional procedure system for performing the
interventional procedure using a robot, an order from the operator
may be provided to the slave robot 130 and the needle driver 120,
and an haptic feedback on a limit of degrees of freedom on the
operation proper to the interventional procedure and an information
generated in the interventional procedure may be provided to the
operator.
[0172] In addition, the operator grasping the gripper 10 may
control the linear motion module 20 and the mode selection module
50 at the same time with one hand of the operator, and may control
the linear motion of the needle 110 and a rolling motion of the
needle 110 easily.
[0173] In addition, the operator may easily grasp the gripper 10.
The mode may be easily converted and one of the linear motion, the
rolling motion, the rotational motion and the plane motion may be
selected to operate the needle 110, with operating the clutch
module 60 by a finger corresponding to the shape of gripping the
gripper 10 by the operator.
[0174] In addition, the gripper 10 clarifies the linear motion with
one degree of freedom, so as to stably provide the linear motion
state of the inserting shaft 22 to the needle. Thus, the linear
motion of the needle 110 may be accurately controlled based on the
linear motion of the inserting shaft 22.
[0175] In addition, the insertion of the needle 110 into the human
body may be detected correspond to the linear motion of the
inserting shaft 22. The operator may detect dangerous situation of
the interventional procedure when the needle 110 is in a
predetermined cautious area. Thus, the needle 110 may be prevented
from damaging the inside of the human body with the predetermined
cautious area, and the patient may be properly protected and the
medical accident may be prevented in the interventional
procedure.
[0176] In addition, for each motion of the gripper 10, the control
position of the gripper 10 may be fixed so that the operator may
recognize the arrangement and the inserting of the needle 110 in
the slave robot 130.
[0177] In addition, the needle 110 may be motioned more correctly,
an absolute position of the needle may be detected, and a weight
balance of the handle unit 200 may be maintained.
[0178] In addition, an interface for the operator may be simplified
and easily used, and the handle unit 200 may be in a neutral
position based on the start signal and the end signal, so that the
operator may control the handle unit 200 more stably.
[0179] In addition, the handle unit 200 may include buttons only
necessary for the interventional procedure, a dangerous signal may
be provided to the operator using a vibrating motor, and mechanism
for operating the clutch module 60 is applied to enhance the
operation of the clutch.
[0180] In addition, for the rotation motion of the needle 110 with
two degree of freedom or the plane motion of the needle 110 with
two degree of freedom, belt-pulley mechanism and a connection
between a driver and a brake are simplified, and friction force and
driving force or fixing force may be properly provided to operate
the interventional procedure.
[0181] In addition, the friction force generated from the master
device in the rotational motion of the needle 110 with two degrees
of freedom may be controlled or prevented. The slave robot 130 may
be smoothly rotated along the first rotational direction with
respect to the first rotational axis 31a, the second rotational
direction with respect to the second rotational axis 32a, and the
mixed rotational direction crossing the first and second rotational
directions.
[0182] In addition, the haptic feedback may be performed for the
plane motion of the needle 110 with two degrees of freedom and the
linear motion of the needle 110 with one degrees of freedom, to
protect the patient from the needle 110.
[0183] In addition, the reaction force may be provided
corresponding to the motion of the needle 110 with each degree of
freedom and the needle 110 may be stopped at the predetermined
cautious area.
[0184] In addition, the needle 110 may be prevented from damaging
the human body at the predetermined cautious area, to protect the
patient in the interventional procedure and to protect the medical
accident.
[0185] In addition, the rotational motion module 30 is not operated
with the linear motion mode or the plane motion mode, and quantity
of motion of the rotational motion module 30 may be accurately
detected for the rotational motion of the gripper 10 with two
degrees of freedom.
[0186] In addition, the linear motion with one degree of freedom,
the rotational motion with two degrees of freedom, and the plane
motion with two degrees of freedom may be clearly discriminated,
the needle 110 may be precisely controlled for each motion, and the
position of the needle 110 may be accurately and precisely
controlled.
[0187] In addition, each motion may be stably provided to the
needle driver 120 and the slave robot 130, and thus negligent
accident due to the malfunction of the mode selection may be
prevented.
[0188] In addition, using the master device for the interventional
procedure, the needle 110 may be automatically inserted into the
human body, and the operator may be prevented from being exposed to
radiation. In addition, as five degrees of freedom of the needle
110, the linear motion with one degree of freedom, the rotational
motion with two degrees of freedom and the plane motion with two
degrees of freedom may be selectively performed, so that the needle
110 may be inserted into the human body more accurately, the needle
110 may be prevented to be vibrated due to the operation of the
master device in the inserting into the human body, and the
selected motion mode may be only performed without intervening the
other motion modes, in controlling the master device.
[0189] In addition, the motion of the needle 110 may be enlarged,
the degree of freedom of the needle 110 may be also enlarged, and
the rotation motion with two degrees of freedom and the plane
motion with two degrees of freedom may be limited to prevent the
vibration of the needle 110, and thus the needle 110 may be
inserted more stably and more accurately.
[0190] In addition, the interface for the master device for the
interventional procedure may be simplified in using the master
device 100, and the needle inserting type remote control
interventional procedure and the processes thereof may be more
optimized.
[0191] In addition, the driving input and the reaction force may be
freely performed for each motion, each motion of the needle 110 may
be separated, each motion mode may be clearly discriminated for
each separated motion, and further each individual operation may be
easily performed at each motion mode.
[0192] Although the exemplary embodiments of the present invention
have been described, it is understood that the present invention
should not be limited to these exemplary embodiments but various
changes and modifications can be made by one ordinary skilled in
the art within the spirit and scope of the present invention as
hereinafter claimed.
* * * * *